CN107708641B

CN107708641B - Sitting type walking rehabilitation robot

Info

Publication number: CN107708641B
Application number: CN201580080184.XA
Authority: CN
Inventors: 韩程宇; 金荣焕; 闵东明; 李姃晛
Original assignee: Cressow Corp
Current assignee: Cressow Corp
Priority date: 2015-05-18
Filing date: 2015-10-28
Publication date: 2021-01-12
Anticipated expiration: 2035-10-28
Also published as: JP2018521719A; KR101623686B1; EP3299001A1; CN107708641A; EP3299001A4; US10881575B2; JP6720218B2; US20180168908A1; WO2016186270A1; EP3299001B1

Abstract

The present invention relates to a sitting walking rehabilitation robot, wherein the sitting walking rehabilitation robot comprises: a body weight support section for supporting a trainee seated on the seating section, the body weight support section including a lifting section connected to the vertical support table and capable of lifting and lowering, and a seating section connected to the lifting section; and a walking driving part connected to the body weight support part and disposed on the ground, wherein body weight support links are respectively connected to both sides of the walking driving part in parallel, and a pedal is connected to the body weight support links for performing a walking exercise of a trainer, the walking driving part comprising: a single-shaft driving unit for moving each of the steps in a front-rear direction along a walking path; a biaxial drive section capable of moving the pedals up and down by the rotational movement of the body weight support link; and a triaxial driving part for causing the pedal to perform a rotational motion.

Description

Sitting type walking rehabilitation robot

Technical Field

The present invention relates to a sitting walking rehabilitation robot, and more particularly to a sitting walking rehabilitation robot as follows. When a user places his or her foot on the step board while sitting on the saddle of the sitting portion to support the weight of the trainer, the step board moves along a walking path by the walking drive portion together with the weight support link, thereby helping the trainer who needs walking training, such as a physically paralyzed patient, to perform walking training.

Background

Generally, a walking rehabilitation robot is used as a treatment device for rehabilitation therapy or the like, and spinal cord injury, cerebral apoplexy, traumatic brain injury, muscular atrophy symptom, parkinson's disease, multiple sclerosis, cerebral palsy, upright feeling enhancement training, and the like of lower half body paralysis can be applied thereto.

In addition, fig. 1, which is illustrated in the same manner as the walking rehabilitation robot of the present invention, shows a conventional walking training device, and such a conventional walking training device 100 uses a hanger-harness type load-pulling device for supporting the weight of the trainee.

To this end, it is more specifically observed that the hanger harness is capable of completely pulling a load upward, and is relatively freely constrained except for the gravity direction of a pulling object due to the flexibility of the harness, and is widely used in the field of pulling a living body, such as a human being, based on the above points.

Further, as described in korean registered patent publication No. 10-0976180 and korean registered patent publication No. 10-0403672, a robot for walking training, a method for operating the same, and a device for measuring a walking distance and a walking direction of a walker for a walking rehabilitation training robot have been proposed for the purpose of rehabilitation therapy of patients having walking disorders.

However, the hanger harness has the following problems: wearing takes a certain time, a large load is concentrated on a body part unsuitable for supporting the load for a long time when worn, and a large installation space is required in the upper direction of the wiring harness.

Disclosure of Invention

Technical problem

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a sitting type walking rehabilitation robot that assists a trainee who cannot walk by himself/herself in performing a walking training by using a weight support link and a pedal of a walking driving unit that can perform a walking path motion, while supporting the weight of the trainee by a weight support that can be raised and lowered according to the body shape of the trainee.

The present invention provides a sitting type walking rehabilitation robot, wherein a trainer transfer part including an inclined part, a position change part and a guide part is arranged on the walking rehabilitation robot in order to safely transfer a trainer to a walking training position of the walking rehabilitation robot.

The present invention is directed to a sitting walking rehabilitation robot in which a part of a pedal is separated from a foot of a trainer in an emergency, and a force of stepping on the pedal by the foot can be accurately transmitted through a pedal detection unit.

The present invention has an object to provide a sitting walking rehabilitation robot in which an armrest and a chest support base on which a chest of a trainer leans are provided on a body weight support portion, so that the upper portion of the trainer seated on a saddle can be fixed, and thereby safety can be ensured by the saddle alone so as to prevent the trainer from being injured by falling.

The invention aims to provide a sitting type walking rehabilitation robot, which is provided with a prompting lamp for informing the running state of the walking rehabilitation robot, thereby being capable of monitoring the normal running of the walking rehabilitation robot in real time and being provided with an emergency button capable of realizing the stopping running in an emergency.

Means for solving the problems

In order to achieve the above object, a sitting type walking rehabilitation robot according to the present invention may include: a body weight support section for supporting a trainee seated on a sitting section, the body weight support section including a lifting section connected to a vertical support table and capable of lifting and lowering, and the sitting section connected to the lifting section; and a walking driving part connected with the body weight supporting part and arranged on the ground, wherein body weight supporting connecting rods are respectively connected with two sides of the walking driving part in parallel, and pedals are connected with the body weight supporting connecting rods for the walking training of a trainer. The walking driving part may include: a single-axis driving unit for moving each of the steps in a front-rear direction of a walking trajectory; a double-shaft driving part capable of moving the pedals up and down by a rotational movement of the body weight support link; and a triaxial driving part for causing the pedal to perform a rotational motion.

Effects of the invention

According to the sitting walking rehabilitation robot of the present invention, it is possible to perform the walking training while supporting the weight of the trainee by adjusting the height of the saddle for sitting thereon, and it is possible to shorten the time required for attaching and detaching the robot to and from the walking training device of the hanger harness type by using the connection frame to function as the weight support part by the saddle, thereby improving the convenience of the trainee and the training assistant. In addition, the following advantages are provided: compared with the existing hanger wire harness type load traction device which needs ceiling construction, the walking rehabilitation robot has low installation height when being installed, and does not need to be additionally modified when being installed in an installation target organ such as a hospital.

In addition, the following effects are provided: in the case of an unexpected situation such as abnormal operation of the walking rehabilitation robot or stiffness of the patient, the risk of joint injury of the patient can be reduced, the safety of the walking rehabilitation robot can be improved, the merchantability can be improved, and the force applied to the pedal can be stably measured during the walking training, thereby accurately responding to the rehabilitation exercise.

In addition, the armrest and the chest support platform are arranged to fix the upper part of the trainer seated on the saddle, thereby effectively preventing the safety accidents such as falling injury of the trainer.

In addition, during the walking training, the normal operation of the walking rehabilitation robot can be confirmed in real time by the prompting lamp, and the misoperation of the walking rehabilitation robot can be quickly dealt with by stopping the operation by the emergency button.

Drawings

Fig. 1 is a perspective view showing a conventional walking training device;

fig. 2 is a perspective view of a sitting walking rehabilitation robot according to the present invention;

fig. 3 is a right side view of the sitting walking rehabilitation robot according to the present invention;

fig. 4 is a plan view of the sitting walking rehabilitation robot according to the present invention;

fig. 5 is a perspective view of a walking driving part portion of one side of the sitting type walking rehabilitation robot according to the present invention;

fig. 6 is a right side view of a walking driving part portion of one side of the sitting type walking rehabilitation robot according to the present invention;

fig. 7 is a left side view of a walking driving part portion of one side of the sitting type walking rehabilitation robot according to the present invention;

fig. 8 is a perspective view of a step plate of the walking rehabilitation robot according to the present invention;

fig. 9 is an exploded perspective view of a step of the walking rehabilitation robot according to the present invention;

FIG. 10 is a side view of the pedal assembly to assemble the pedal of FIG. 9;

FIG. 11 is a longitudinal sectional view of the above-mentioned FIG. 10;

fig. 12 is a side view of a body weight support part of the walking rehabilitation robot according to the present invention;

fig. 13 is an internal structure perspective view showing an internal structure of a body weight support part of the walking rehabilitation robot according to the present invention;

fig. 14 and 15 are schematic sectional views for explaining the adjustment of the distance of the chest support stand from the connection frame in the body weight support part of the walking rehabilitation robot according to the present invention;

fig. 16 is a schematic cross-sectional view for explaining the rotation of the chest support base in the body weight support portion of the walking rehabilitation robot according to the present invention.

Detailed Description

Hereinafter, preferred embodiments of the sitting walking rehabilitation robot according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various forms different from each other, and the embodiments are provided only for sufficiently disclosing the present invention and making those skilled in the art know the scope of the present invention.

Fig. 2 is a perspective view of the sitting walking rehabilitation robot according to the present invention, fig. 3 is a right side view of the sitting walking rehabilitation robot according to the present invention, and fig. 4 is a plan view illustrating the sitting walking rehabilitation robot according to the present invention.

As shown in fig. 2 to 4, the sitting walking rehabilitation robot (10) according to the present invention is roughly divided into a body weight support part (1), a walking drive part (2), and a trainer transfer part (3). The walking drive unit (2) is shown in fig. 5.

Here, the power supply, the connection line, and the like applied to the walking rehabilitation robot (10) are selected from one of known configurations, and a separate description thereof will be omitted.

The body weight support part (1) comprises a lifting part (11) and a seating part (12), wherein the lifting part (11) comprises a lifting frame (5) connected with a vertical support platform (50), a lifting block (245) and the like which are positioned inside the vertical support platform (50) and connected with the lifting frame (5), and the seating part (12) comprises a connecting frame (6) connected with the lifting frame (5) and a saddle (7) arranged on the connecting frame (6).

A decorative cover (15) is mounted on the left/right side and the front side of the walking drive part (2), the decorative cover (15) plays the role of a cover for shielding the walking drive part (2), the weight support part (1) is vertically arranged on the front side of the walking drive part (2), and a trainer transfer part (3) for transferring a trainer is arranged on the rear side of the walking drive part (2). A warning lamp (20) is provided on the inner side of the upper surface of a vertical support base (50) of the body weight support (1) on which the lifting unit (11) is provided, and lights of different colors are emitted through the open periphery, and an emergency button (14a) is provided on the front surface of the vertical support base (50) of the body weight support (1), and for example, when the warning lamp (20) emits green light, it is recognized that the walking rehabilitation robot is operating normally, and when the light emits red light, the walking rehabilitation robot is automatically stopped, or when the operation is recognized as being misoperated by the judgment of a protector or a trainer, the emergency button (14a) is pressed to immediately stop the operation of the walking rehabilitation robot.

The trainer transfer part (3) comprises an inclined part (31) arranged at the rear end of the walking drive part (2), a position change part (32) arranged on the walking drive part (2) and a guide part (33) for guiding the movement of the position change part (32).

The inclined part (31) is provided on the walking drive part (2) so that the trainee moves toward the walking training space (200) above the walking drive part (2). The inclined part (31) connects the ground surface and the walking drive part (2). The trainer can move to the walking training space (200) by moving the inclined part (31) to the upper side of the walking drive part (2).

The position changing unit (32) is provided on the walking drive unit (2) so as to be movable between a movement position (P1) and a training position (P2), the movement position (P1) being for moving the trainee toward the walking training space (200), and the training position (P2) being for performing walking training on the trainee. For example, when the trainer needs to move to the walking training room (200), the position changing unit (32) may be located at the movement position (P1). In this case, the trainee can move along the inclined portion (31) and the position changing portion (32) toward the walking training space (200) in a state of being mounted on the wheelchair or in a state of being supported by another person. When the trainer sits on the saddle (7) in the walking training space (200), the position changing portion (32) can be moved to the training position (P2). Here, the trainer transfer part (3) may include a grip part (201) formed on the position changing part (32).

The grip portion (201) may be formed in a hole or groove shape on the position changing portion (32). That is, the grip portion (201) can be formed on the position changing portion (32) so as to be recessed in the direction toward the walking drive unit (2). In this case, the position changing unit (32) is moved by another person who assists the trainer in holding the grip unit (201). Thus, the walking rehabilitation robot (10) according to the present invention can avoid interference between the grip (201) and the movement path of the trainer during movement of the trainer toward the position changing unit (32), as compared to a case where the grip (201) is formed so as to protrude.

The guide portion (33) guides the movement of the position changing portion (32). The guide unit (33) may be provided on the walking drive unit (2). The guide section (33) can guide the movement of the position changing section (32) such that the position changing section (32) moves in a movement direction perpendicular to the direction of gravity. In this case, the position changing portion (32) moves in the moving direction along the guide portion (33) so that the position changing portion (32) is located on the upper side of the inclined portion (31) in the training position (P2).

Thus, the walking rehabilitation robot (10) according to the present invention can achieve the following operational effects.

First, the walking rehabilitation robot (10) according to the present invention can move the position changing unit (32) in the movement direction, and can prevent the body of the operator from being burdened by the load of the position changing unit (32) as compared with the case of moving in the gravity direction. Thus, the walking rehabilitation robot (10) according to the present invention can contribute to prevention of diseases such as musculoskeletal diseases and safety accidents of operators during walking training.

Next, the walking rehabilitation robot (10) according to the present invention performs a walking training in a state in which the position changing unit (32) is moved, thereby preventing the walking driving unit (2) from colliding with the position changing unit (32). Therefore, the walking rehabilitation robot (10) according to the invention can ensure a sufficient walking range and improve the walking training efficiency for the operator.

The position changing portion (32) may include a flat plate portion (321) and a connecting portion (322).

The flat plate portion (321) is provided on the guide portion (33). The flat plate portion (321) is used for supporting a trainer. The flat plate portion (321) is movable along the guide portion (33) to be located at any one of the movement position (P1) and the training position (P2). The connecting portion (322) may be provided on one side of the flat plate portion (321). Thus, when the flat plate portion (321) is located at the movement position (P1), the trainer can move toward the walking training space (200) through the inclined portion (31), the connecting portion (322), and the flat plate portion (321). The holding portion (201) may be formed on the flat plate portion (321).

The connecting portion (322) connects the flat plate portion (321) and the inclined portion (31). The connecting portion (322) can be provided on the flat plate portion (321) by a pin. In this case, the connecting portion (322) can also move together with the movement of the flat plate portion (321) toward the moving position (P2). The connecting portion (322) is provided on the flat plate portion (321) such that the inclination decreases from the flat plate portion (321) toward the inclined portion (31). In this case, the connecting portion (322) is continuously provided at one end of the front side of the inclined portion (31), so that the trainee can be positioned on the flat plate portion (321) through the inclined portion (31) and the connecting portion (322).

When the flat plate portion (321) moves from the moving position (P1) to the training position (P2), the connecting portion (322) provided on the flat plate portion (321) can move in a state of contacting the inclined portion (31). Thus, the walking rehabilitation robot (10) according to the present invention can move the position changing unit (32) in the movement direction by using a sliding method and gravity. Thus, compared with the case of moving along the gravity direction, the walking rehabilitation robot (10) according to the invention can prevent the load of the position change part (32) from causing the burden to the body of the operator. Thus, the walking rehabilitation robot (10) according to the present invention can contribute to prevention of diseases such as musculoskeletal diseases and safety accidents of operators during walking training.

The guide part (33) may include a guide rail (241) for providing a moving path of the position changing part (32) and a roller part (242) provided on the position changing part (32).

The guide rail (241) is provided on the trim cover (15). The guide rail (241) can provide a moving path of the position changing portion (32). For example, the flat plate portion (321) may be located at any one of the moving position (P1) and the training position (P2) by moving along the guide rail (241). Thus, the flat plate portion (321) moves along the guide rail (241), and the connecting portion (322) can move in a state of contacting the inclined portion (31).

The roller part (242) is provided on the position changing part (32) so as to be rotatable as the position changing part (32) moves. For example, the roller part (242) can be rotated in the moving direction of the flat plate part (321) and the connecting part (322) in accordance with the movement of the flat plate part (321) and the flat plate part (321). Thus, the walking rehabilitation robot (10) according to the present invention can move the position changing unit (32) by the rotation of the roller unit (242) while the position changing unit (32) is moving. Therefore, the walking rehabilitation robot (10) according to the present invention can reduce the force required to move the position changing part (32), and can move the position changing part (32) with only a small force. Thus, the walking rehabilitation robot (10) according to the present invention can further prevent the burden on the body of the operator during the movement of the position changing unit (32).

The guide portion (33) may include a second fixing portion (243) and a fixing member (244) that are locatable in at least one of the moving position (P1) and the training position (P2). In this case, the trainer transfer part (3) may include a first fixing part (203) provided on the position changing part (32).

The second fixing portion (243) is provided on the guide rail (241). The second fixing portion (243) is provided on the guide rail (241) to be able to be located at least one of the moving position (P1) and the fixing position (P2). The second fixing portion (243) may be formed in a hole or groove shape.

The first fixing portion (203) is provided on the position changing portion (32). The first fixing portion (203) is capable of being located at a position corresponding to the second fixing portion (243) at the moving position (P1) and the fixing position (P2), respectively, as the position changing portion (32) moves. The first fixing portion (203) can be formed in a hole shape in the position changing portion (32).

The fixing member (244) can fix the position changing portion (32). The fixing member (244) is insertable into the second fixing portion (243) and the first fixing portion (203) at the movement position (P1) with the movement of the position changing portion (32). In this case, the fixing member (244) can fix the position changing portion (32) at the movement position (P1). In addition, the fixing member (244) is insertable into the second fixing portion (243) and the first fixing portion (203) on the training position (P2). In this case, the fixing member (244) can fix the position changing portion (32) to the training position (P2).

Thus, the walking rehabilitation robot (10) according to the present invention can prevent the position of the position changing unit (32) from changing randomly in a state where the trainer is positioned on the position changing unit (32). Therefore, the walking rehabilitation robot (10) according to the present invention can prevent the trainee from falling down while the trainee is seated on the saddle (7) or moving toward the walking training space (200). Thus, the walking rehabilitation robot (10) according to the present invention can contribute to preventing a safety accident from occurring to a trainer during a walking training.

The trainer transport unit (3) may further include a stopper (202) provided on the guide unit (33).

The stopper (202) is capable of coming into contact with the position changing portion (32) to stop the movement of the position changing portion (32) as the position changing portion (32) is located at the movement position (P1). For this purpose, the stop (202) can be provided on the trim cover 15 and arranged to be located in the shift position (P1). The stopper (202) may be made of polyurethane or the like that can absorb impact and reduce noise. The stopper (202) can absorb an impact generated when the stopper collides with the position changing portion (32) by an elastic member such as a spring. Thus, the walking rehabilitation robot (10) according to the present invention can reduce the impact and noise generated by the guide section (33) during the movement of the position changing section (32) toward the movement position (P1).

Detection sensors (18) that can be brought into contact with the rear ends of the flat plate portions (321) of the position changing portions (32) are provided at the rear ends of the guide portions (33). The detection sensor (18) operates the walking drive unit (2) only when detecting contact with the rear end of the flat plate portion (321) of the position changing portion (32), thereby avoiding accidents that may occur when the walking drive unit (2) is operated in a state where the flat plate portion (321) of the position changing portion (32) is located in the walking training space (200). A detection sensor (18) or the like provided in a part of the guide unit (33) is provided as a trainer transfer unit detection device so that when the position changing unit (32) of the trainer transfer unit is located at a training position (P2) apart from the walking training space (200), it can be recognized that the walking rehabilitation robot is in a state allowing operation.

The walking drive unit (2) is configured to include: a pair of weight support links (223) and a pair of pedals (233), the pair of weight support links (223) and the pair of pedals (233) being disposed side by side at both rear sides of the weight support part (1) with a preset length to enable walking training of a trainee; and a single-axis driving part (21), a double-axis driving part (22) and a three-axis driving part (23), wherein the single-axis driving part (21), the double-axis driving part (22) and the three-axis driving part (23) are used for driving the body weight support connecting rod (223) and the pedal (233) to move along the walking track. As described above, with respect to the respective body weight support links (223) of the walking drive section (2), the right side surface of the end portion of one body weight support link and the left side surface of the end portion of the other body weight support link are respectively oppositely provided with pedals (233), and the structure and the specific driving for the respective walking drive section (2) are specifically described below.

The drive control unit is provided inside the walking drive unit (2) and the body weight support unit (1), the drive control unit inside the walking drive unit (2) includes a driver for driving the walking drive unit (2) and the like, and the drive control unit inside the body weight support unit (1) also performs the same function as described above. The drive control units of the walking drive unit (2) and the body weight support unit (1) are linked by communicating with a signal input/output device and a communication device provided in the walking drive unit (2), and the linkage control and drive command are transmitted by a general-purpose integrated controller or integrated control unit.

The lifting frame (5) of the lifting part (11) is connected to the rear surface of the body weight support part (1), and the lifting frame (5) is lifted up and down together with the connection frame (6) provided with the saddle (7) by a screw rod, a lifting block, and the like provided inside the vertical support table (50) of the body weight support part (1), and the structure and the specific operation thereof are also described in detail below.

A saddle (7) is provided at the lower end of a connecting frame (6) of the sitting section (12), and in this state, the lower end of the connecting frame (6) is connected to one end of a weight detecting section (8), the weight detecting section (8) is connected to one end of a lifting frame (5), and an emergency button (14b) is provided at one position of the connecting frame (6), and the emergency button (14b) is used for immediately stopping the misoperation when the walking rehabilitation robot (10) performs the misoperation.

The saddle (7) as a part of the seating part (12) is provided so as to be rotatable left and right while supporting the body weight in a state where the trainee is seated, and it is preferable that the saddle (7) is allowed to rotate within a left and right preset range as described above, thereby avoiding the occurrence of a load on the trainee due to excessive rotation. That is, the walking training can be performed more naturally by the movement of the pelvis portion than in the case where the saddle (7) is fixed. A chest support platform (140) for supporting the chest of the trainer is arranged at the upper part of the front side of the connecting frame (6), the chest support platform (140) is inserted and arranged in the chest support platform adjusting connecting rod (130), and armrests (150) are arranged at two sides of the connecting frame (6).

The weight detecting section (8) can be provided in a lifting frame (5) connected to a connecting frame (6) by a force sensor or a load cell. That is, the weight detecting unit (8) is provided at a part of the end of the lifting frame (5) on the side of the connecting frame (6), and one side of the weight detecting unit (8) is connected to the connecting frame (6), so that the weight and force of the trainee transmitted via the saddle (7) or the like are transmitted to the weight detecting unit (8) through the connecting frame (6). A cover (19) may be provided at one end of the lifting frame (5) adjacent to the weight detecting section (8) to prevent the weight detecting section (8) from being exposed to the outside.

The armrest frame (9) is disposed on the trim cover (15). The armrest frame (9) may be provided to have the same inclination as the inclined portion (31). The trainer can move along the inclined part (31) and the position changing part (32) located at the movement position (P1) while holding the armrest frame (9). Thus, the walking rehabilitation robot (10) according to the present invention is formed so that the trainee can move toward the walking training space (200) while holding the armrest frame (9), and can prevent the trainee from falling. Therefore, the walking rehabilitation robot (10) according to the invention can be more helpful for preventing the safety accident of the trainer during the walking training.

Fig. 5 is a perspective view of a one-side walking drive part of the sitting walking rehabilitation robot according to the present invention, fig. 6 is a right side view of the one-side walking drive part of the sitting walking rehabilitation robot according to the present invention, and fig. 7 illustrates a left side view of the one-side walking drive part of the sitting walking rehabilitation robot according to the present invention.

As shown in fig. 5 to 7, the walking drive part (2) of the sitting walking rehabilitation robot according to the present invention includes a pair of body weight support links (223), a pair of pedals (233), a single axis drive part (21), a double axis drive part (22), and a triple axis drive part (23) as described above. In the drawing, only the right walking drive unit (2) of the walking rehabilitation robot (10) is shown, but the left walking drive unit (2a) also has the same configuration.

The body weight support link (223) is a part of a double-shaft drive unit (22) having a pedal (233) on the end side, the double-shaft drive unit (22) is provided on the upper surface of a single-shaft drive table (213), and the single-shaft drive table (213) is a part of a single-shaft drive unit (21) of the walking drive unit (2).

The single-shaft drive unit (21) of the walking drive unit (2) is configured to include: a single-shaft motor (211), wherein the single-shaft motor (211) is arranged on the walking driving part frame (24); a single-shaft speed reduction device (212), wherein the single-shaft speed reduction device (212) comprises a pulley, a speed reducer and the like which are arranged on the output end of the single-shaft motor (211); a single-shaft drive pulley (215), the single-shaft drive pulley (215) being provided on an output end of the single-shaft reduction gear (212); a single-shaft driven pulley (216), wherein the single-shaft driven pulley (216) and the single-shaft driving pulley (215) are arranged on the walking driving part frame (24) at a preset interval; a single-shaft drive table (213) which can be moved in the front-rear direction of the walking drive unit frame (24) and on which a body weight support link (223) including the pedals (233) is provided; and a single-shaft linear driving belt (214) which connects one end of the single-shaft driving table (213) and the single-shaft driving pulley (215) and the other end of the single-shaft driving table (213) and the single-shaft driven pulley (216) at the same time so as to drive the single-shaft driving table (213) to move in the front-back direction. Here, the single-shaft driving pulley (215) is coaxially arranged to rotate synchronously with an output end of the single-shaft reduction gear (212).

Thus, the drive of the single-shaft motor (211) of the single-shaft drive unit (21) is transmitted to the single-shaft drive table (213) through the single-shaft reduction gear (212), the single-shaft drive pulley (215), the single-shaft linear drive belt (214), and the like, and the body weight support link (223) linearly moves in the front-rear direction together with the pedal (233).

The double-shaft driving part (22) of the walking driving part (2) is formed into a structure comprising: a double-shaft motor (221) which is arranged on the single-shaft driving table (213) and realizes driving in linkage with the driving of the single-shaft driving table (213) in the front-back direction; a biaxial speed reduction device (222), the biaxial speed reduction device (222) being provided on an output end of the biaxial motor (221); and a body weight support link (223), one end of the body weight support link (223) is connected with the output end of the double-shaft speed reduction device (222), and the inside of the body weight support link (223) is provided with the three-shaft driving part (23) so that the pedal (233) can be positioned at the other end of the body weight support link (223). The rotational movement of the body weight support link (223) can be realized independently of the driving of the single-axis drive section (21) in the front-rear direction. A cable drag chain (324) is provided on the opposite side of a biaxial motor (221) to which the biaxial deceleration device (222) is connected, and various cables for supplying power to the walking drive unit (2) are placed in the cable drag chain (324) for protection and are driven together with the various cables.

Thus, the double-shaft motor (221) of the double-shaft drive unit (22) drives the front side of the weight support link (223) to perform rotary motion capable of ascending and descending together with the pedal (233) through the weight support link (223) by the double-shaft reduction gear (222).

The three-axis drive unit (23) of the walking drive unit (2) is configured to include: a three-axis motor (231), the three-axis motor (231) being disposed at an intermediate position inside the body weight support link (223); an orthogonal three-axis decelerator (232), the orthogonal three-axis decelerator (232) being connected to the three-axis motor (231), and an output end thereof being connected to a side surface of the pedal (233); and the pedal (233). The side surface of the pedal 233 is connected to the triaxial reducer 232 so that the pedal 233 can perform a relative rotational motion with respect to the body weight support link 223.

Thus, the drive of the three-axis motor (231) of the three-axis drive unit (23) is transmitted to the pedal (233) through the three-axis reducer (332), and the pedal (233) can perform the rotational motion as described above.

The walking drive unit (2) continuously performs the following walking track motion by the single-axis drive unit (21) and the double-axis drive unit (22) of the walking drive unit (2). That is, when one side step 233 of the walking drive unit 2 moves upward and slightly moves backward, the opposite side step 233 moves downward and slightly moves forward, and when one side step 233 moves downward and slightly moves forward, the opposite side step 233 moves upward and slightly moves backward, centering on one side end of the walking drive unit 2. At this time, the three-axis driving unit (23) causes the pedal (233) to naturally rotate in accordance with the operation of landing the heel first and then landing the toes sequentially during walking.

In the walking drive part (2), the motor, the speed reducer and the like are covered by the wire belt (40) because the driving of the motor, the speed reducer and the like can cause safety accidents and cause poor appearance. That is, the string belt (40) is connected by string belt rollers (41) respectively provided on the front and rear sides of the single-shaft driving table (213), and the string belt (40) continuously covers the front upper surface of the walking driving unit (2), the lower surface of the single-shaft driving table (213), and the rear upper surface of the walking driving unit (2).

Fig. 8 is a perspective view of a step of the walking rehabilitation robot according to the present invention, and fig. 9 illustrates an exploded perspective view of the step of the walking rehabilitation robot according to the present invention.

As shown in fig. 8 and 9, the footplate 233 of the walking rehabilitation robot according to the present invention has a square plate shape and includes an upper plate 54, a middle plate 55 and a lower plate 56, steel blocks 57 are protrusively provided on both sides of a lower surface of the upper plate 54 in a length direction, and a fixing band 51 for fixing a patient's foot is provided on an upper surface of the upper plate 54. An electromagnet (58) is provided in the recess (58a) at a position corresponding to the steel block (57) on the upper surface of the intermediate plate (55) to be attached to the steel block (57) by magnetic force, thereby bonding the upper plate (54) and the intermediate plate (55). The electromagnet (58) has a predetermined thickness, so that the electromagnet (58) protrudes downward through the intermediate plate (55). In addition, contact portions (60) are connected to the nuts (60a) and the urethane washers (66) at the four corner positions of the middle plate (55) for contact with the load cells (59) (see fig. 10).

Through holes (H) are formed in the upper surface of the lower plate (56) in parallel at positions corresponding to the electromagnets (58) respectively so that the electromagnets (58) and the concave portions (58a) can be inserted together, and load cells (59) are provided at four corner positions of the upper surface of the lower plate (56), the load cells (59) serving as a type of force sensor contacting the contact portions (60). The load cell (59) is provided to protrude slightly from the upper surface of the lower plate (56) so that the intermediate plate (55) and the lower plate (56) are coupled to be slightly spaced apart from each other when the intermediate plate (55) and the lower plate (56) are coupled to be overlapped with each other. A fastening part (513) is provided on a lower surface between the through holes (H) for connecting to an output end of a three-axis reducer (232) of a weight support link (223) of the walking rehabilitation robot (10).

According to the pedal 233 provided in the walking rehabilitation robot 10 configured as described above, when an emergency such as a stiff patient or an abnormal operation of the walking rehabilitation robot occurs, and a force of a predetermined level or more is applied to the pedal 233 to which the foot of the patient is fixed, the following operation is realized by the control of the control unit: the load cell (59) detects this by means of the contact section (60), and supplies current to an electromagnet (58) provided on the upper surface of the intermediate plate (55) so that the magnetic force of the electromagnet (58) is eliminated, thereby separating the upper plate (54) from the intermediate plate (55) attached to the upper plate (54) by means of the electromagnet (58). Thus, the electromagnet (58) is used, and when no current is applied to the electromagnet (58), the electromagnet (58) generates magnetic force to bond the upper plate (54) and the intermediate plate (55) to each other. In addition, a pedal assembly state sensor 51 (see fig. 11), such as a contact sensor, for detecting whether or not the upper plate 54 is attached may be provided on the pedal 233 so that an abnormal state in which the upper plate 54 is separated from the intermediate plate 55 can be recognized.

Fig. 10 is a side view of a pedal assembly to which the pedal of fig. 9 is assembled, and fig. 11 is a longitudinal sectional view illustrating the pedal of fig. 10.

As shown in fig. 10 and 11, the pedal assembly to which the pedal of fig. 9 is assembled is formed in a square plate shape and includes an upper plate (54), a middle plate (55), and a lower plate (56) which are sequentially joined in an overlapping manner. The middle plate (55) and the lower plate (56) have a preset interval, pedal detection parts (65) are respectively arranged on the periphery of the lower plate (56) in a protruding mode, and the lower portion of the pedal detection part (65) is fixed on the lower plate (56) through bolts (64), nuts (60a) and polyurethane gaskets (60b) under the state that the pedal detection parts (65) protrude. Wherein an elastic member (66) in the form of a washer and a nut (60a) are inserted between the upper portion of the protruding pedal detection portion (65) and the intermediate plate (55) and fixed. Specifically, when the lower surface of the intermediate plate (55) is brought into contact with the upper portion of the pedal detection unit (65) and the upper surface of the intermediate plate (55) is pressed by the bolt (64), the elastic member (66) in the form of a washer is inserted between the upper surface of the intermediate plate (55) as a pressing surface and the lower surface of the bolt (64) to fasten them. Further, as described above, the pedal assembly state detection sensor (51) is provided at the middle position inside the pedal (233), the load cells (59) are provided inside the four corners of the lower plate (56) connected to the pedal detection section (65), and the electromagnet (58) provided on the upper surface of the intermediate plate (55) is attached to the steel block (57) on the lower surface of the upper plate (54).

As described above, the upper plate (54) is arranged on the intermediate plate (55) in an overlapping manner in a state where the elastic members (66) are inserted into the upper portions of the respective pedal detection portions (65), and the elastic members (66) are respectively accommodated and fixed at four places of the lower surface of the upper plate (54), thereby constituting the pedal (223). Thus, the upper plate (54) and the middle plate (55) are connected to each other in an overlapping manner by interposing a plurality of elastic members (66) therebetween, respectively, wherein the elastic members (66) have a pedal detection portion (65) therein, so that the upper plate (54) and the lower plate (56) are not separated from each other.

The elastic members (66) can be made of natural rubber, synthetic rubber, or a resin material having elasticity, and typically, polyurethane is used as the resin material.

As described above, in the step plate (233) of the walking rehabilitation robot (10) according to the present invention, the elastic member (66) is inserted between the intermediate plate (55) and the load cell (59), and therefore, the force generated when the upper plate (54) is pressed is accurately transmitted to the load cell (59) through the intermediate plate (55). That is, when force is transmitted from the intermediate plate (55) to the load cell (59), not only force in the vertical direction can be transmitted but also torque can be transmitted to generate noise in a state where the intermediate plate (55) and the pedal detection portion (65) are firmly connected, but with the connection in which the elastic member (66) is inserted as in the present invention, since the rigidity of the elastic member (66) is negligibly small compared with the rigidity of the intermediate plate (55) and the pedal detection portion (65), the elastic member absorbs the generated torque and transmits only force to the pedal detection portion (65) during deformation. In addition, the elastic member (66) can prevent the intermediate plate (55) from being separated from the lower plate (56).

Thus, even in a state where the intermediate plate (55) and the lower plate (56) of the pedal (233) are fixed in a spaced-apart overlapping manner, the elastic member (66) does not cause any movement or deformation of the pedal detection section (65), and therefore, no torque generated by bending the intermediate plate (55) due to transmission of force acting on the upper plate (54) to the intermediate plate (55) is transmitted to the pedal detection section (65), and thus, the force pressing the pedal can be accurately detected and measured.

Although the above description has been made of the case where the pedal 233 to which the elastic member 66 is applied to the walking rehabilitation robot of the present invention, the pedal described above can be applied to a pedal of an exoskeleton robot, a walking analysis robot, or the like based on force, in addition to the walking rehabilitation robot.

Fig. 12 is a side view of a body weight support part of the walking rehabilitation robot according to the present invention, and fig. 13 is a perspective view illustrating an internal structure of the lifting part of fig. 12.

As shown in fig. 12 and 13, in order to support the saddle 7 of the sitting portion 12 on the vertical support 50 of the body weight support 1, the walking rehabilitation robot according to the present invention may be provided with a lifting frame 5 of a lifting portion 11 between the saddle 7 and the vertical support 50, and connect the lifting frame 5 through a connection frame 6, and the saddle 7 is provided at the lower end of the connection frame 6. Specifically, one side portion of the lifting frame (5) is supported by a vertical support base (50) of the body weight support (1), and the other side portion of the lifting frame (5) protrudes toward the outside of the body weight support (1) and is positioned on the side of the walking drive unit (2). In addition, a connecting frame (6) is connected to the other side portion of the lifting frame (5) located on the side of the walking drive unit (2), and a saddle (7) is provided on the connecting frame (6).

The weight detecting unit (8) may be provided in the lifting frame (5) connected to the connecting frame (6), and the weight detecting unit (8) may be a force sensor or a load cell. That is, a weight detecting unit (8) is provided at a part of an end of the lifting frame (5) on the side of the connecting frame (6), and the weight detecting unit (8) is covered with a cover, and one side of the weight detecting unit (8) is connected to the connecting frame (6), so that the weight and force of the rehabilitated patient transmitted from the saddle (7) or the like can be transmitted to the weight detecting unit (8) through the connecting frame (6).

The lifting frame (5) of the lifting part (11) can be arranged in a lifting manner so as to be capable of adjusting the height of the saddle (7) according to the physical characteristics of the rehabilitation patient. A screw (246) and a lifting block (245) are provided to realize the lifting of the lifting frame (5). The lead screw (246) is vertically disposed in parallel with the vertical support table (50) of the body weight support (1) and is rotatable in the vertical support table (50) of the body weight support (1), and the lifting block (245) is disposed around the lead screw (246) and is engaged with the lead screw (246). At this time, one side surface of the lifting block (245) is combined with the lifting frame (5). Thus, when the screw (246) is rotated in the normal direction or the reverse direction by a driving unit (not shown) such as a motor, the lifting block (245) can be lifted and lowered along the screw (246), thereby lifting and lowering the lifting frame (5). Thereby, the saddle (7) connected to the lifting frame (5) through the connecting frame (6) is lifted.

As described above, since the saddle (7) can be raised and lowered together with the connection frame (6) by the lifting frame (5), the weight detection unit (8) can detect the load (force) transmitted from the connection frame (6) via the saddle (7) and transmit the load to the integrated control unit (not shown) which compares the load applied to the saddle (7) with the weight of the rehabilitation patient, that is, compares whether or not the height of the saddle (7) is at a position corresponding to the characteristics of the rehabilitation patient, and then appropriately determines the height of the saddle (7) according to the characteristics of the rehabilitation patient. Thereafter, the lifting frame (5) is appropriately lifted and lowered in the above-described manner.

Linear Motion (LM) guides (250) for stably lifting and lowering a lifting frame (5) are provided on both sides in a vertical support base (50) of a body weight support unit (1) of a walking rehabilitation robot according to the present invention, and a torque transmitted by a load acting on a saddle (7) is cancelled by the LM guides (250), so that a force generated by the body weight of a rehabilitated patient or the like is transmitted to a lead screw (246) only in a vertically downward direction in the body weight detection unit (8).

A chest support base (140) for supporting and supporting the chest of a rehabilitation patient may be provided on the connection frame (6). Therefore, the chest is contacted and supported on one side surface of the chest support table (140) under the state that the rehabilitation patient is seated on the saddle (7), thereby more stably training the walking action. Since the chest support platform (140) is connected to the connection frame (6), the load (force) generated when the rehabilitation patient supports the chest by the chest support platform (140) can also be transmitted to the weight detection unit (8) through the connection frame (6).

A pair of armrests (150) can be vividly connected to the connecting frames (6) on both sides of the chest support platform (140) so as to support the armpit parts of the rehabilitation patient or hold the armpit parts by hands. When a rehabilitation patient sits on the saddle (7), the armrests (150) are supported by the armrests (150) under the armpits or the armrests (150) are held by hands, so that the walking movement can be trained more stably. Since the armrests (150) are connected to the connecting frame (6), the load (force) generated when the rehabilitation patient supports the armpit by the armrests (150) or holds the armpit by hand can also be transmitted to the weight detecting section (8) by the connecting frame (6).

As described above, the weight of the rehabilitation patient seated on the saddle (7) is completely transmitted to the weight detection unit (8) through the connection frame (6), but when the chest of the rehabilitation patient is supported by the chest support base (140), the armpit of the rehabilitation patient is supported by the armrests (150), or the armrests (150) are held, the dispersed load is transmitted to the weight detection unit (8) through the connection frame (6), and therefore the entire load of the rehabilitation patient seated on the saddle (7) can be accurately measured.

In addition, according to the walking rehabilitation robot of the present invention, the weight detection unit (8) and the saddle (7) are positioned inside the lifting frame (5) with a gap therebetween, and therefore, only the weight detection unit (8) provided inside the lifting frame (5) can be easily maintained or replaced by opening the cover (19).

The body weight support part (1) of the walking rehabilitation robot according to the present invention can be moved and used by being independently prepared. In this case, the body weight support part (1) may contact and be supported on the ground or the like.

The sitting walking rehabilitation robot according to the present invention can be adjusted to a walking training state in a state where a rehabilitation patient is seated on the saddle (7), and is therefore very convenient.

In addition, a member for pulling the rehabilitation patient upward is not required, and thus the space for installation in the upper direction is reduced.

In addition, after the load acting on the saddle (7) by the rehabilitation patient is accurately measured, the height of the saddle (7) is adjusted according to the characteristics of the rehabilitation patient, so that the targeted training corresponding to the characteristics of the rehabilitation patient can be carried out.

In addition, because the weight detection part (8) is arranged inside the lifting frame (5), the maintenance is simple and convenient, and the volume of the saddle (7) and the components around the saddle (7) is reduced.

In addition, the walking rehabilitation robot that changes the position of the detection unit as described above accurately detects and measures the load such as the weight of the rehabilitation patient, analyzes the measured data, and analyzes the force transmitted to the lower limbs of the rehabilitation patient, and is applied to rehabilitation training and also used for rehabilitation program control.

Fig. 14 and 15 are schematic sectional views for explaining adjustment of a distance between the chest support base and the connection frame in the body weight support part of the walking rehabilitation robot according to the present invention, and fig. 16 is a schematic sectional view for explaining rotation of the chest support base in the body weight support part of the walking rehabilitation robot according to the present invention.

Referring to fig. 14 and 15, the thorax supporting table adjustment link (130) is connected with the connection frame (6) such that one side of the thorax supporting table adjustment link (130) can move and rotate. Is connected with the chest support table (140) at the other side of the chest support table adjusting link (130). For the upper side of the chest support table (140) facing away from the lower side where the saddle (7) is located, it is connected with the chest support table adjustment link (130). The chest support platform adjusting link (130) penetrates the connecting frame (6), a nut or a bolt head is arranged on one side of the chest support platform adjusting link (130), and the chest support platform (140) is arranged on the other side. The chest support table adjusting link (130) may be formed as a bolt, but is not limited thereto, and may be formed in other forms as long as it can connect the connecting frame (6) and the chest support table (140) and can move and rotate with respect to the connecting frame (6). The chest support table adjusting link (130) is connected to the connecting frame (7) in a direction perpendicular to the direction of gravity so as to be able to be parallel to the saddle (7).

The chest support table (140) is movable and rotatable in unison with the movement and rotation of the chest support table adjustment link (130). For example, when the chest support table adjustment link (130) is moved from the attachment frame (6) toward the direction in which the saddle (7) is located, the chest support table (140) is moved away from the attachment frame (6). In this case, since the distance between the saddle (7) and the chest support base (140) is reduced, a walking trainer of a small size, such as a child or a woman, can be positioned to be suitable for the walking training. For example, when the chest support table adjustment link (130) moves from the connection frame (6) toward the direction opposite to the direction in which the saddle (7) is located, the chest support table (140) moves toward the direction approaching the connection frame (6). In this case, since the distance between the saddle (7) and the chest support base (140) is increased, it is possible to set a position suitable for walking training by a large walking trainer such as a male.

Referring to fig. 15 and 16, the chest support platform (140) supports the upper body of the walking trainer. For this purpose, the chest support platform (140) is connected to the "I" portion of the connecting frame (6) which is in the overall L shape. The chest support table (140) is connectable to the connecting frame (6) by the chest support table adjusting link (130). The chest support base (140) distributes the weight of the walking trainer supported by the saddle (7) by supporting the upper body of the walking trainer. For example, when a walking trainer inclines the upper body toward the direction in which the connection frame (6) is located in a state in which the walking trainer is seated on the saddle (7), the chest support table (140) supports the chest or abdomen of the walking trainer, and the weight supported by the saddle (7) can be dispersed. Thus, the body weight support part (1) of the walking rehabilitation robot according to the invention can avoid the situation that the walking training can not be executed for a long time because of the numbness or paralysis of the lower body of the walking training person when the body weight is only concentrated on the pelvis part of the walking training person. Thus, the body weight support part (1) of the walking rehabilitation robot according to the invention can increase the walking training time of the walking trainer, thereby shortening the recovery period of the walking-enabled state.

The chest support table (140) is adjustable in height. The chest support platform (140) rotates together with the chest support platform adjusting link (130) rotating in the first direction (R1, shown in fig. 16), so that the height of the upper body supporting the walker can be increased. For example, when the upper body support part (140) is located at a first position before rotating in the first direction, the height thereof becomes lower. In this case, since the distance between the saddle (7) and the chest support base (140) is reduced, it is possible to set a position suitable for a walking trainer, such as a child or a woman, whose height is low and whose upper half is low. For example, the height of the chest support table (140) may become higher when the chest support table is located at the second position after the rotation in the first direction. In this case, since the distance between the saddle (7) and the chest support base (140) is increased, it is possible to set a position suitable for a walking trainer, such as a male, having a high height and a high upper half height. Thus, the body weight support part (1) of the walking rehabilitation robot according to the present invention is formed such that the upper body support part (140) is adjusted in position to correspond to the body shape or height of the walking trainer, thereby enabling the walking training to be performed comfortably and freely during the walking training.

As described above, the sitting walking rehabilitation robot according to the present invention is described with reference to the illustrated drawings, but it is needless to say that the present invention is not limited to the embodiments and drawings disclosed in the present specification, and those skilled in the art can make various modifications within the scope of the technical idea of the present invention.

Claims

1. A seated ambulatory rehabilitation robot, comprising:

a body weight support section for supporting a trainee seated on a sitting section, the body weight support section including a lifting section connected to a vertical support table and capable of lifting and lowering, and the sitting section connected to the lifting section; and

a walking driving part connected to the body weight support part and disposed on the ground, wherein body weight support links are connected to both sides of the walking driving part in parallel, respectively, and a pedal is connected to the body weight support links for performing walking training of a trainee,

the walking drive unit includes: a single-axis driving unit for moving the weight support link in the front-rear direction along the walking path of each of the pedals by a single-axis motor; a biaxial drive portion which enables the pedals to perform a rotational motion that is movable up and down by the rotational motion of the body weight support link by a biaxial motor, and which enables the rotational motion of the body weight support link to be achieved independently of the driving of the uniaxial drive portion in the front-rear direction; and a triaxial driving part for causing the pedal to perform a rotational motion, wherein the single-axis motor and the double-axis motor are respectively rotary motors.

2. The sitting walking rehabilitation robot of claim 1,

the sitting walking rehabilitation robot comprises a weight detection part, the weight detection part is used for measuring the weight of a trainer,

the lifting part comprises a lifting frame, the lifting frame is connected with the vertical supporting platform,

the sitting portion includes a saddle for seating a trainee and a connecting frame connected to the saddle,

the weight detecting part is connected with the lifting frame and the connecting frame, so that the weight detecting part can measure the weight of the trainer through the connecting frame.

3. The sitting walking rehabilitation robot of claim 2,

the sitting walking rehabilitation robot comprises an armrest frame, the armrest frame is arranged on the connecting frame,

the weight detecting section can measure the weight of the trainer and the load applied to the armrest frame by the connection frame.

4. The sitting walking rehabilitation robot of claim 2,

the sitting walking rehabilitation robot comprises a chest support platform which is arranged on the connecting frame,

the weight detection unit can measure the weight of the trainee and the load applied to the chest support platform by the connection frame.

5. The sitting walking rehabilitation robot of claim 1,

the single-shaft driving unit of the walking driving unit includes:

a single-shaft reduction gear including a pulley or a reducer provided on an output end of the single-shaft motor;

a single-shaft drive pulley disposed on an output end of the single-shaft reduction gear;

a single-shaft driven pulley provided on the walking drive section frame at an interval from the single-shaft driving pulley;

a single-shaft drive table that is movable in the front-rear direction of the walking drive section frame and is provided with a body weight support link including the pedals; and

a single-shaft linear driving belt connecting one end of the single-shaft driving table to the single-shaft driving pulley and connecting the other end of the single-shaft driving table to the single-shaft driven pulley so as to drive the single-shaft driving table to move in the front-rear direction;

wherein the single-shaft motor is provided on the walking driving part frame.

6. The sitting walking rehabilitation robot of claim 5,

the biaxial drive section includes:

a double-shaft reduction gear provided on an output end of the double-shaft motor; and

a body weight support link, one end of which is connected with an output end of the double-shaft reduction gear, and inside which the three-shaft driving part is provided to enable the pedal to be positioned at the other end of the body weight support link;

the double-shaft motor is arranged on the single-shaft driving table and is linked with the action of the single-shaft driving table along the front-back direction; the body weight support link can be made to perform rotational motion in a process in which the single-axis drive section performs linear motion in the front-rear direction.

7. The sitting walking rehabilitation robot of claim 1,

the triaxial driving part connected with the pedal includes:

a three-axis motor disposed at an intermediate position within the body weight support link;

an orthogonal triaxial reducer connected with the triaxial motor, and an output end of the orthogonal triaxial reducer is connected with a side surface of the pedal; and

the pedal is capable of rotational movement relative to the body weight support link.

8. The sitting walking rehabilitation robot of claim 5,

the sitting posture walking rehabilitation robot further comprises a string belt wound around the string belt rollers provided on the single shaft driving stage at both front and rear sides thereof, respectively, and continuously provided on a front upper surface of the walking driving section, a lower surface of the single shaft driving stage, and a rear upper surface of the walking driving section, in order to cover the walking driving section.

9. The sitting walking rehabilitation robot of claim 1,

the sitting walking rehabilitation robot comprises a trainer transfer part which is connected with the walking driving part and is arranged on the ground for assisting the movement of a trainer,

the trainer transfer part comprises:

an inclined portion provided at a rear end of the walking drive portion so as to enable a trainer to move along an inclination toward an upper side of the walking drive portion;

a position changing portion provided on the walking drive portion and arranged to be movable between a moving position for the trainee to move toward an upper side of the body weight support portion and a training position for performing walking training on the trainee; and

a guide portion for guiding movement of the position changing portion.

10. The sitting walking rehabilitation robot of claim 9,

the guide portion includes: a guide rail for providing a moving path of the position changing part; and a roller portion provided on the position changing portion and arranged to be rotatable with movement of the position changing portion.

11. The sitting walking rehabilitation robot of claim 9,

the sitting walking rehabilitation robot further comprises a trainer transfer part detection device, the trainer transfer part detection device comprises a detection sensor, and the trainer transfer part detection device is arranged on one part of the guide part and used for detecting that the position change part of the trainer transfer part is positioned at a training position and is in a state of being capable of executing the robot work.

12. The sitting walking rehabilitation robot of claim 1,

in the walking drive unit, a part of the pedal to which the patient's foot is fixed is coupled to another part of the pedal by a magnetic force of an electromagnet provided in the pedal, and a part of the pedal, in which the magnetic force disappears by detecting a force of a predetermined level or more by a load cell provided in the pedal, is separated from the other part.

13. The sitting walking rehabilitation robot of claim 12,

the electromagnet is an electromagnet capable of generating a magnetic force when no current is applied.

14. The sitting walking rehabilitation robot of claim 12,

the pedal includes:

the upper surface of the upper plate is provided with a fixing belt for wrapping and fixing the feet of the patient;

the middle plate is provided with one end of the weighing sensor on the lower surface, the weighing sensor is used for measuring pressure applied to the upper plate, the electromagnet is arranged on the upper surface of the middle plate, and the middle plate is combined with the upper plate in a way that the steel block arranged on the lower surface of the upper plate is attached to the electromagnet;

a lower plate coupled to the other end of the load cell, the load cell being disposed on a lower surface of the middle plate; and

and a pedal detection unit capable of removing the magnetic force by supplying a current to the electromagnet when a predetermined pressure or more is detected by the load cell, thereby separating the upper plate from the middle plate.

15. The sitting walking rehabilitation robot of claim 14,

the sitting walking rehabilitation robot further comprises a pedal assembly state detection sensor for detecting whether the upper plate is attached or not so as to be capable of identifying abnormal situations that the upper plate is separated from the middle plate.

16. The sitting walking rehabilitation robot of claim 14,

the weighing sensors are respectively arranged at the periphery of the lower plate, and elastic members in the shape of washers are respectively inserted and connected between the upper parts of the weighing sensors and the middle plate.

17. The sitting walking rehabilitation robot of claim 14,

the lower surface of the intermediate plate is in contact with the upper portion of the load cell, and when the upper surface of the intermediate plate is pressed by a bolt, an elastic member in the form of a washer is inserted and connected between the upper surface of the intermediate plate as a pressing surface and the lower surface of the bolt.

18. The sitting walking rehabilitation robot of claim 1,

the lifting part comprises a lifting frame which is provided with a lifting frame,

the sitting part comprises a connecting frame and a saddle, the connecting frame is positioned at the rear end of the lifting frame, the saddle is rotatably arranged at the lower end of the connecting frame and is used for a trainer to sit,

a screw rod is rotatably arranged on the vertical support platform of the body weight support part, the screw rod is arranged along the vertical direction, an elevating block is arranged on the screw rod, the elevating block can be lifted along with the forward rotation or the reverse rotation of the screw rod, and the elevating frame and the connecting frame can be lifted together,

on the lifting block there is provided a linear movement guide capable of eliminating the torque transmitted by the load acting on the saddle so that the lead screw is subjected only to forces in the vertical direction.

19. The sitting walking rehabilitation robot of claim 1,

the seating part includes a connection frame located at a rear end of the lifting frame,

the upper part of the connecting frame is provided with a chest supporting platform which is used for supporting and supporting the chest of the trainer,

the chest support platform is inserted into and arranged on the connecting frame through a chest support platform adjusting connecting rod, the chest support platform adjusting connecting rod is connected with the rear surface of the chest support platform, and the chest support platform can adjust the distance between the chest support platform and the connecting frame through the chest support platform adjusting connecting rod according to the body type of a trainer.

20. The sitting walking rehabilitation robot of claim 2,

the upper side of the chest support platform, which is opposite to the lower side of the saddle, is connected to a chest support platform adjusting link, and the chest support platform can be adjusted in height by rotating around the chest support platform adjusting link according to the body shape of the trainee.